CN202446810U - Striking device as well as ball hitting mechanism and ball kicking robot applying same - Google Patents
Striking device as well as ball hitting mechanism and ball kicking robot applying same Download PDFInfo
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- CN202446810U CN202446810U CN2012200192050U CN201220019205U CN202446810U CN 202446810 U CN202446810 U CN 202446810U CN 2012200192050 U CN2012200192050 U CN 2012200192050U CN 201220019205 U CN201220019205 U CN 201220019205U CN 202446810 U CN202446810 U CN 202446810U
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Abstract
The utility model discloses a striking device as well as a ball hitting mechanism and a ball kicking robot applying the same. The striking device comprises a base, an execution unit, an air cylinder and a position adjusting unit, wherein the base comprises a striking hole; the execution unit comprises a position adjusting seat fixed on the base, and a striking rod pivoted with the position adjusting seat; the striking rod is connected with the base through an elastic piece; the air cylinder is fixed on the base through an air cylinder fixing plate; the striking rod moves along with reciprocating motion of a piston head of the air cylinder; the position adjusting unit comprises an adjusting nut fixed on the position adjusting seat, a screw rod in bolt connection with the adjusting nut, and at least two guide rods parallel to the screw rod; one end of the screw rod is axially connected with a motor; one end of each guide rod penetrates through a linear bearing so as to be fixed on the base; the other end of each guide rod is fixed on a guide pillar installing plate; the motor is connected with an encoder; and sensors are respectively arranged on the guide pillar installing plate and the base. The striking device has high storage pressure, strong adjustability of shooting action strength, and low cost.
Description
Technical field
The utility model relates to a kind of beating unit, particularly a kind of beating unit, the kicking machine of Pneumatic pressure power and robot of playing football that uses it of being applicable to.
Background technology
Along with human society scientific development and technological progress, social production and various fields in life are infiltrated in automation control more and more.How People more and more attempts various needn't going with the executing agency that Based Intelligent Control is transferred in the action that the people accomplishes in person accomplished, and in other words, the suitable application area of robot has obtained unprecedented expansion.People usually hold the intelligent robot match, can improve ROBOT CONTROL intelligence with the engineer who encourages automation control area.
For example, in robot soccer game, be the football team that the team member constitutes by intelligent mobile robot, adopt the rule that is similar to human football match to play, robot is fully independently playing football during the games, and match is the winner to kick opponents' goal person in the majority.Common Soccer robot ball-kicking device is generally realized playing football through following dual mode: one, utilize electromagnetic mode to drive the bar of playing football, realize playing football of the different shooting ranges of Soccer robot; Two, utilize pneumatic element as power source, open and close the break-make of controlling gas circuit, realize the Soccer robot shooting with this through the control magnetic valve.Based on the ball-kicking device of electromagnetic mode, big, the distance of goal getting power, but need boost up to several hectovolts, cost is expensive, and has certain Keep Clear-High Voltage factor; Based on the ball-kicking device of pneumatic mode, because air pressure restriction, often shooting range is shorter, if improve air pressure, then air-tightness is difficult to guarantee, and along with the minimizing of gas-storing capacity, air pressure reduces, and the strength of playing football also weakens thereupon gradually.Above-mentioned two kinds of ball-kicking devices, the contacting points position of its play football bar and football are often constant all the time when playing football, and can not adjust according to the controller instruction, and the shooting mode is single, can not realize the flat fire action of football and the exchange of flip shot action.
Those skilled in the art be devoted to study a kind of can high-pressure gas, shooting action and the adjustable kicking machine and the robot of playing football of goal getting power.
The utility model content
The technical problem that the utility model will solve is in order to overcome in the prior art; Robot beating unit device poor air-tightness; Can't be along with gas-storing capacity changes and adjusting air pressure execution action; The deficiency that the pneumatic actuator action is single provides a kind of novel beating unit and the kicking machine and the robot that use it.
The utility model solves above-mentioned technical problem through following technical proposals:
A kind of beating unit, its characteristics are that said beating unit comprises:
One base, said base comprises at least one punching hole;
One performance element, comprise one be fixed on the base position adjustment seat with one with the striking rod of a said position adjustment pivot joint, said striking rod is connected through an elastic component with said base;
One cylinder, cylinder is fixed on the said base through an air cylinder fixed plate, and said striking rod moves with the piston head of cylinder;
One position adjustment unit; Comprise that one is fixed on the adjustment nut on the said position adjustment seat; One leading screw that is spirally connected with said adjustment nut, said leading screw one end and a motor are coupling, at least two guide rods that laterally arrange with said leading screw; Each guide rod one end passes a linear axis and holds and be fixed on the base, and the other end is fixed on the guide pillar installing plate;
Wherein, said motor is connected with an encoder, and said guide pillar installing plate and base respectively are provided with a sensor.
Preferably, a bump head is set on the piston head of said cylinder, said bump head remains with said striking rod and contacts.
Preferably, said striking rod lower end is provided with an adjustment plate, and said adjustment plate comprises a kink, and the contact position of said adjustment plate and striking rod is adjustable, is provided with on the said kink and impacts screw.
Preferably, the screw thread of said adjustment nut and leading screw is a trapezoidal thread.
Preferably, said adjustment nut is fixedly connected with said position adjustment seat with linear bearing.
Preferably, on the said guide pillar installing plate motor mounting plate is set, said motor is arranged on the said motor mounting plate.
Preferably, said motor is a DC servo motor.
Preferably, on the said position adjustment seat signal plate is set, said signal plate cooperates the position signalling that produces striking rod with said sensor.
A kind of kicking machine of the robot of playing football, its characteristics are that said kicking machine comprises:
At least one aforesaid beating unit;
One pneumatic means, said pneumatic means comprises:
A plate, said connecting plate surface is provided with a plurality of interfaces, and said a plurality of interfaces are at the inner path that forms of said connecting plate;
One inflation unit comprises a high-pressure ball valve, and said inflation unit is connected with one first sealing joint in said a plurality of interfaces;
One gas storage unit, said gas storage unit is connected with one second sealing joint in said a plurality of interfaces;
One air pressure sensing unit, said air pressure sensing unit is connected with one the 3rd sealing joint in said a plurality of interfaces;
One gas transmission unit comprises a magnetic valve, and said gas transmission unit is connected with one the 4th sealing joint in said a plurality of interfaces;
Wherein, said connecting plate, inflation unit, gas storage unit, air pressure sensing unit and gas transmission unit form a sealing gas circuit when high-pressure ball valve and closed electromagnetic valve.
One digital signal processing unit, said digital signal processing unit is connected with encoder, sensor and motor in said air pressure sensing unit, gas transmission unit and the said beating unit.
Preferably, said high-pressure ball valve one end is connected with said connecting plate through one first high pressure connection, and the high-pressure ball valve other end communicates with an extraneous aerating device through one second high pressure connection.
Preferably, said gas storage unit comprises a gas cylinder, and said gas cylinder is connected with said connecting plate through a gas cylinder joint; Said air pressure sensing unit comprises a pressure sensor, and said pressure sensor is connected with said connecting plate through one the 3rd high pressure connection; Said magnetic valve one end is connected with said connecting plate through one the 4th high pressure connection, and the magnetic valve other end is connected with a pneumatic copper pipe through one the 5th high pressure connection.
Preferably, the L-shaped shape of said connecting plate, said a plurality of joint distributed and arranged are on different end faces.
Preferably, said connecting plate wherein at least one end face is provided with screwed hole, and this screwed hole does not communicate with said sealing gas circuit.
Preferably, the inner surface of said connecting plate internal gas path is smooth, and the turning is an arc surface, the metal that said connecting plate is one of the forming.
Preferably, said digital signal processing unit is used for the signal according to said pressure sensor transmission, the switching time of control gas transmission valve.
A kind of robot of playing football; Its characteristics are; Said robot comprises vision system and aforesaid kicking machine; Said digital signal processing unit is used for the striking rod current position signal according to the signal of said vision system transmission and the transmission of said encoder, sends rotation command to motor, controls the switching time of gas transmission valve simultaneously.
In the utility model, but above-mentioned optimum condition combination in any on the basis that meets this area general knowledge promptly gets each preferred embodiment of the utility model.
The positive progressive effect of the utility model is: beating unit that the utility model discloses and kicking machine gas storage pressure are high, and shooting action and goal getting power adjustability are strong, and cost is low.
Description of drawings
Fig. 1 is the structure explosive view of the pneumatic means under specific embodiment of the utility model.
Fig. 2 is the structure explosive view of the beating unit under specific embodiment of the utility model.
Fig. 3 is the structural representation of the kicking machine under specific embodiment of the utility model.
Fig. 4 is one of them the effect sketch map of beating unit square stance under specific embodiment of the utility model.
Fig. 5 is another effect sketch map of beating unit square stance under specific embodiment of the utility model.
The specific embodiment
The embodiment of the utility model will describe with reference to accompanying drawing.In Figure of description, the element with similar structures or function will be used the components identical symbolic representation.Accompanying drawing for the ease of each embodiment of explanation the utility model, is not to carry out the explanation of exhaustive to the utility model just, neither the scope of the utility model be limited.From the purpose of clear narration, potted components such as retaining element such as a large amount of screws, bolts in the structure explosive view and packing ring will be enumerated explanation no longer successively, and those skilled in the art should be understood that these all are the technological means of using always in the industry.
Fig. 1 is the structure explosive view of the pneumatic means under specific embodiment of the utility model.In this embodiment; Pneumatic connecting plate 10 inside are provided with a plurality of gas passages (scheming not shown); Gas passage forms a plurality of ventilation interfaces at the end face of pneumatic connecting plate 10; These a plurality of ventilation interfaces are provided with internal thread, are convenient to be connected with other high pressure sealing joint, and gas passage communicates with each other in said connecting plate inside.Parts effect according to the ventilation interface connects is different; These interfaces can be divided into inflation interface, gas storage interface, air pressure induction interface and gas transmission interface or the like; Therewith accordingly, each parts and sub-assembly thereof also can be referred to as inflation unit, gas storage unit, air pressure sensing unit and gas transmission unit or the like.Pneumatic connecting plate 10 possibly also be provided with more ventilation interface; When the temporary connectionless parts of unnecessary interface; Should vacant interface be shut with high pressure seal, with guarantee should be pneumatic connecting plate 10, inflation unit, gas storage unit, air pressure sensing unit and gas transmission unit form one and seal gas circuit.The effect of each ventilation interface is unfixing; If still can accomplish good high pressure sealing behind the reversing of position between parts and the parts with corresponding ventilation interface; And the structure arrangement of whole pneumatic means do not had harmful effect, then can change arbitrarily between the parts.Pneumatic connecting plate 10 can be one-body molded by metal, also can carry out the material that gases at high pressure are tightly connected by other and process.From the consideration that reduces fluid resistance, the inner surface of pneumatic connecting plate 10 internal gas paths should be smooth as far as possible, and the passage turning should be arc surface, to reduce the pressure loss of gases at high pressure in passage.In the present embodiment, pneumatic connecting plate 10 is shaped as the approximate cuboid of L shape, and said a plurality of joint distributed and arranged are on different end faces.The extension that approximate cuboid should be similar to cuboid also is provided with screwed hole, is convenient to pneumatic connecting plate 10 fixed installations.
One high-pressure ball valve 20 is connected with the inflation interface (scheming not shown) of pneumatic connecting plate 10 through one 90 ° of high pressure connections 22, forms inflation unit, and this high-pressure ball valve other end communicates with extraneous charger through inflation high pressure connection 24.When needs were inflated, this inflation high pressure connection 24 was tightly connected with charger (for example air compressor), opens high-pressure ball valve 20, and gases at high pressure get into pneumatic connecting plate 10 through this inflation interface, thereby get into corresponding gas storage unit.In a preferred embodiment, the high-pressure fast aeration joint is selected in inflation high pressure connection 24 for use, to guarantee the accomplishing inflation action quickly.
The gas storage unit comprises a gas cylinder 30, and this gas cylinder 30 is connected with the gas storage interface 12 of pneumatic connecting plate 10 through a gasket seal 34 gentle bottle graft heads 36.Gas cylinder 30 materials are not limit, but should possess the ability that can reach tens atmospheric gases of storage.
The air pressure sensing unit comprises a pressure sensor 40, and this pressure sensor 40 is connected with pressure sensor attaching nut 46, and pressure sensor attaching nut 46 is connected with the air pressure induction interface 14 of pneumatic connecting plate 10 through sensor high pressure connection 48.Those skilled in the art should be understood that; Pressure sensor 40 measuring fluid pressure; And pressure signal transmitted to processor with the mode of analog signal or data signal; This is a mature technique comparatively in the industry, and the sensor that high-pressure gas pressure is accurately measured in any suitable can being used for can both be suitable for.
The gas transmission unit comprises a magnetic valve 50; Said magnetic valve 50 1 ends are connected with the gas transmission interface 16 of said pneumatic connecting plate 10 with gas transmission high pressure connection 57 through a high pressure connection 55, a high-pressure adapter assembly 56, and magnetic valve 50 other ends pass through a bite type stainless joint assembly 52 and are connected with a pneumatic copper pipe 51.Like this, when magnetic valve was opened, the gases at high pressure in the gas cylinder 30 just can be exported through pneumatic copper pipe 51, thus outputting power.
This pneumatic means also comprises a digital signal processing unit (Digital Signal Processing unit, " DSP ") (scheming not shown), and DSP can comprise microprocessor (μ P), microcontroller (μ C), central processing unit (CPU) etc.DSP can be fixedly mounted on the position of pneumatic means in any appropriate, also can be installed in other suitable position of robot.
Fig. 2 is the structure explosive view of the beating unit under specific embodiment of the utility model.In this embodiment, base 100 is a rectangle housing, a punching hole 110, one springs 120 is set on it is connected base 100 belows through a plate 122, and base 100 top end are provided with lead screw hole 130 and two guide rod holes 132.
One air cylinder fixed plate 250 is fixed on the base 100 through screw, and cylinder 200 front ends comprise retaining thread portion 210 and piston head 220.Retaining thread portion 210 passes punching hole 110 and is spirally connected with cylinder hold-down nut 260 and tightens, and cylinder hold-down nut 260 and cylinder grasp air cylinder fixed plate 250 like this, thereby cylinder 200 is fixedly connected with base 100.One bump 240 is connected with piston head 220 through a bump head adjustment nut 230.Can adjust the stroke position of bump 240 through rotating percussion head adjustment nut 230.Piston 200 inlet ends are tightly connected through bite type stainless joint 270 and aforementioned pneumatic copper pipe 51, thereby open and close the operation of control cylinder piston head 220 through control magnetic valve 50.
Fig. 3 is the structural representation of the kicking machine under specific embodiment of the utility model.In this embodiment, play football robot except that kicking machine is set, also comprise vision system (scheming not shown), to making judgement when the position at forecourt and goal.The gas pressure signal that aforementioned DSP response pressure sensor 40 transmits; The relevant information of position signalling that encoder 480 transmits and vision system pass; Make judgement rapidly, instruction is sent to magnetic valve 50, DC servo motor 470 in the switching time of decision gas transmission valve and the position of striking rod 300; Make striking rod 300 reach suitable height, ball is hit.
Fig. 4 and Fig. 5 are the execution sketch map of the beating unit square stance under specific embodiment of the utility model.When the signal of vision system transmission goal and ball, in the time of need ball being hit with flat mode of playing, the rotation of DSP drive motors, leading screw orders about position adjustment seat and striking rod rises, and reaches suitable position, and ball is hit.Vice versa, in the time need ball being hit to choose the mode of playing, and the reverse rotation of DSP drive motors, leading screw orders about position adjustment seat and striking rod descends, and reaches suitable position, and ball is hit.
More than though the specific embodiment of the utility model has been described, it will be understood by those of skill in the art that these only illustrate, the protection domain of the utility model is limited appended claims.Those skilled in the art is under the prerequisite of principle that does not deviate from the utility model and essence; Can make numerous variations or modification to these embodiments; For example, DC servo motor can be other suitable micromachine, as long as can receive DSP control and output to deliver signal; Can be suitable for, these changes and modification all fall into the protection domain of the utility model.
Claims (16)
1. a beating unit is characterized in that, said beating unit comprises:
One base, said base comprises at least one punching hole;
One performance element, comprise one be fixed on the base position adjustment seat with one with the striking rod of a said position adjustment pivot joint, said striking rod is connected through an elastic component with said base;
One cylinder, cylinder is fixed on the said base through an air cylinder fixed plate, and said striking rod moves with the piston head of cylinder;
One position adjustment unit; Comprise that one is fixed on the adjustment nut on the said position adjustment seat; One leading screw that is spirally connected with said adjustment nut, said leading screw one end and a motor are coupling, at least two guide rods that laterally arrange with said leading screw; Each guide rod one end passes a linear axis and holds and be fixed on the base, and the other end is fixed on the guide pillar installing plate;
Wherein, said motor is connected with an encoder, and said guide pillar installing plate and base respectively are provided with a sensor.
2. beating unit as claimed in claim 1 is characterized in that, a bump head is set on the piston rod head of said cylinder, and said bump head remains with said striking rod and contacts.
3. beating unit as claimed in claim 1 is characterized in that, said striking rod lower end is provided with an adjustment plate, and said adjustment plate comprises a kink, and the contact position of said adjustment plate and striking rod is adjustable, is provided with on the said kink and impacts screw.
4. beating unit as claimed in claim 1 is characterized in that, the screw thread of said adjustment nut and leading screw is a trapezoidal thread.
5. beating unit as claimed in claim 1 is characterized in that, said adjustment nut is fixedly connected with said position adjustment seat with linear bearing.
6. beating unit as claimed in claim 1 is characterized in that, on the said guide pillar installing plate motor mounting plate is set, and said motor is arranged on the said motor mounting plate.
7. beating unit as claimed in claim 1 is characterized in that, said motor is a DC servo motor.
8. like each described beating unit of claim 1 to 7, it is characterized in that on the said position adjustment seat signal plate is set, said signal plate cooperates the position signalling that produces striking rod with said sensor.
9. the kicking machine of the robot of playing football is characterized in that, said kicking machine comprises:
Each described beating unit of at least one claim 1 to 8;
One pneumatic means, said pneumatic means comprises:
A plate, said connecting plate surface is provided with a plurality of interfaces, and said a plurality of interfaces are at the inner path that forms of said connecting plate;
One inflation unit comprises a high-pressure ball valve, and said inflation unit is connected with one first sealing joint in said a plurality of interfaces;
One gas storage unit, said gas storage unit is connected with one second sealing joint in said a plurality of interfaces;
One air pressure sensing unit, said air pressure sensing unit is connected with one the 3rd sealing joint in said a plurality of interfaces;
One gas transmission unit comprises a magnetic valve, and said gas transmission unit is connected with one the 4th sealing joint in said a plurality of interfaces;
Wherein, said connecting plate, inflation unit, gas storage unit, air pressure sensing unit and gas transmission unit form a sealing gas circuit when high-pressure ball valve and closed electromagnetic valve.
One digital signal processing unit, said digital signal processing unit is connected with encoder, sensor and motor in said air pressure sensing unit, gas transmission unit and the said beating unit.
10. kicking machine as claimed in claim 9 is characterized in that, said high-pressure ball valve one end is connected with said connecting plate through one first high pressure connection, and the high-pressure ball valve other end communicates with an extraneous aerating device through one second high pressure connection.
11. kicking machine as claimed in claim 9 is characterized in that, said gas storage unit comprises a gas cylinder, and said gas cylinder is connected with said connecting plate through a gas cylinder joint; Said air pressure sensing unit comprises a pressure sensor, and said pressure sensor is connected with said connecting plate through one the 3rd high pressure connection; Said magnetic valve one end is connected with said connecting plate through one the 4th high pressure connection, and the magnetic valve other end is connected with a pneumatic copper pipe through one the 5th high pressure connection.
12. kicking machine as claimed in claim 9 is characterized in that, the L-shaped shape of said connecting plate, and said a plurality of joint distributed and arranged are on different end faces.
13., it is characterized in that said connecting plate wherein at least one end face is provided with screwed hole like each described kicking machine of claim 9 to 12, this screwed hole does not communicate with said sealing gas circuit.
14., it is characterized in that the inner surface of said connecting plate internal gas path is smooth like each described kicking machine of claim 9 to 12, the turning is an arc surface, the metal that said connecting plate is one of the forming.
15., it is characterized in that said digital signal processing unit is used for the signal according to said pressure sensor transmission like each described kicking machine of claim 9 to 12, the switching time of control gas transmission valve.
16. robot of playing football; It is characterized in that; Said robot comprises vision system and each described kicking machine of claim 9 to 15; Said digital signal processing unit is used for the striking rod current position signal according to the signal of said vision system transmission and the transmission of said encoder, sends rotation command to motor, controls the switching time of gas transmission valve simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200192050U CN202446810U (en) | 2012-01-17 | 2012-01-17 | Striking device as well as ball hitting mechanism and ball kicking robot applying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200192050U CN202446810U (en) | 2012-01-17 | 2012-01-17 | Striking device as well as ball hitting mechanism and ball kicking robot applying same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202446810U true CN202446810U (en) | 2012-09-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012200192050U Withdrawn - After Issue CN202446810U (en) | 2012-01-17 | 2012-01-17 | Striking device as well as ball hitting mechanism and ball kicking robot applying same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202446810U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103203104A (en) * | 2012-01-17 | 2013-07-17 | 上海未来伙伴机器人有限公司 | Hitting device, and ball hitting mechanism and ball kicking robot employing hitting device |
| CN105148528A (en) * | 2015-07-03 | 2015-12-16 | 北京信息科技大学 | Modularized football robot |
-
2012
- 2012-01-17 CN CN2012200192050U patent/CN202446810U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103203104A (en) * | 2012-01-17 | 2013-07-17 | 上海未来伙伴机器人有限公司 | Hitting device, and ball hitting mechanism and ball kicking robot employing hitting device |
| CN105148528A (en) * | 2015-07-03 | 2015-12-16 | 北京信息科技大学 | Modularized football robot |
| CN105148528B (en) * | 2015-07-03 | 2017-10-17 | 北京信息科技大学 | A kind of modularization Soccer robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120926 Effective date of abandoning: 20160217 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |